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Finding a parking space is a common challenge faced by millions of city-dwellers every day. An attempt is made with wireless ad-hoc networking technologies, which offer a new and efficient means to simplify the process of parking as well as extending the convenience for drivers. This paper presents a novel parking space discovery mechanism for Vehicular Ad-hoc Networks (VANETs) using intelligent Unique Routing Agents (URAs). URAs periodically collect routing and service availability information and index the same in appropriate URA nodes. Every node in the network is close to at least one URA node. The vehicle node running an application in need of a parking space dispatches a Discovery Agent to its nearest URA node. The index available at the URA node will guide the Discoverer Agent to the service node. The method has been simulated over VANET and simulation results show that the system has satisfactory data delivery ratio and response time for number of requests.